diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..e4009d85e345d922032d6d560a2f00cbe28f7ea6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,48 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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+robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link1.stl filter=lfs diff=lfs merge=lfs -text
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+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link1.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link2.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link3.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link4.stl filter=lfs diff=lfs merge=lfs -text
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+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link6.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link7.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/body.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/chassis.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/chest.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/head.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/waist_link1.stl filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/waist_link2.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes/waist_link3.STL filter=lfs diff=lfs merge=lfs -text
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+robot_model_v2/meshes_isaaclab/meshes/chest.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes_isaaclab/meshes/head.STL filter=lfs diff=lfs merge=lfs -text
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+robot_model_v2/meshes_isaaclab/meshes/waist_link2.STL filter=lfs diff=lfs merge=lfs -text
+robot_model_v2/meshes_isaaclab/meshes/waist_link3.STL filter=lfs diff=lfs merge=lfs -text
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diff --git a/robot_model_v2/README.md b/robot_model_v2/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..672aca0638ef903c1a53c3347620623a55fadd47
--- /dev/null
+++ b/robot_model_v2/README.md
@@ -0,0 +1,111 @@
+# robot_model_v2
+
+轮式人形机器人模型，包含底盘（含轮子几何）、腰部、胸部、颈部、头部及双臂（各 7 自由度）。
+
+- **URDF**: `urdf/wheel_robot.urdf` — 26 links, 25 joints, 20 可动 DOF
+- **USD**: `usd/wheel_robot_lab.usd` — Isaac Lab 专用
+- **Meshes**: `meshes/` — STL 网格文件，`chassis.STL` 含轮子几何
+
+## 关节列表（20 DOF）
+
+| 序号 | 关节名 | 类型 |
+|------|--------|------|
+| 1 | waist_link1 | revolute |
+| 2 | waist_link2 | revolute |
+| 3 | waist_link3 | revolute |
+| 4 | chest_joint | revolute |
+| 5–11 | AR5-5_07L_joint_1~7 | revolute（左臂） |
+| 12 | neck_joint | revolute |
+| 13 | head_joint | revolute |
+| 14–20 | AR5-5_07R_joint_1~7 | revolute（右臂） |
+
+## 环境
+
+| 环境 | 用途 |
+|------|------|
+| `gym` | Isaac Gym 可视化 |
+| `sim4` | Isaac Lab 可视化 |
+
+所有命令在 `/home/dyz/feast` 目录下执行。
+
+---
+
+## Isaac Gym 可视化
+
+```bash
+conda activate gym
+```
+
+### 交互式查看（带 viewer）
+
+```bash
+python robot_model_v2/isaacgym_visualize.py
+```
+
+### 动画录制（依次展示每个关节）
+
+```bash
+python robot_model_v2/isaacgym_visualize.py \
+  --headless --animate --motion-mode sequential \
+  --duration 33 --fps 30 \
+  --save-frames-dir /tmp/igym_frames
+
+ffmpeg -y -framerate 30 \
+  -i /tmp/igym_frames/frame_%04d.png \
+  -c:v libx264 -pix_fmt yuv420p \
+  robot_model_v2/isaacgym_animation.mp4
+```
+
+### 同步动画（所有关节同时运动）
+
+```bash
+python robot_model_v2/isaacgym_visualize.py \
+  --headless --animate --motion-mode synchronized \
+  --duration 6 --fps 30 \
+  --save-frames-dir /tmp/igym_frames
+
+ffmpeg -y -framerate 30 \
+  -i /tmp/igym_frames/frame_%04d.png \
+  -c:v libx264 -pix_fmt yuv420p \
+  robot_model_v2/isaacgym_animation.mp4
+```
+
+---
+
+## Isaac Lab 可视化
+
+```bash
+conda activate sim4
+```
+
+### 动画录制（依次展示每个关节）
+
+```bash
+python robot_model_v2/isaaclab_record_demo.py \
+  robot_model_v2/usd/wheel_robot_lab.usd \
+  --headless --enable_cameras \
+  --motion-mode sequential \
+  --duration 20 --fps 24 \
+  --frames-dir /tmp/ilab_frames
+
+ffmpeg -y -framerate 24 \
+  -i /tmp/ilab_frames/frame_%04d.png \
+  -c:v libx264 -pix_fmt yuv420p \
+  robot_model_v2/isaaclab_animation.mp4
+```
+
+### 同步动画
+
+```bash
+python robot_model_v2/isaaclab_record_demo.py \
+  robot_model_v2/usd/wheel_robot_lab.usd \
+  --headless --enable_cameras \
+  --motion-mode synchronized \
+  --duration 4 --fps 24 \
+  --frames-dir /tmp/ilab_frames
+
+ffmpeg -y -framerate 24 \
+  -i /tmp/ilab_frames/frame_%04d.png \
+  -c:v libx264 -pix_fmt yuv420p \
+  robot_model_v2/isaaclab_animation.mp4
+```
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+<?xml version="1.0"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Arinffy andStephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+
+<robot
+  name="robot_model_v2">
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>/</robotNamespace>
+    </plugin>
+  </gazebo>
+  
+  <!-- Material definitions -->
+  <material name="orange">
+    <color rgba="0.5 0.0 0.5 1.0"/>
+  </material>
+  <material name="chassis_silver">
+    <color rgba="0.78 0.80 0.82 1.0"/> 
+  </material>
+  <material name="body_color">
+    <color rgba="0.50 0.60 0.10 1.0"/> 
+  </material>
+  <material name="metal_dark">
+    <color rgba="1 1 1 1"/> 
+  </material>
+  <material name="mat_black">
+    <color rgba="0.05 0.05 0.06 1.0"/> 
+  </material>
+  <material name="accent_blue">
+    <color rgba="0.06 0.24 0.80 1.0"/> 
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="1 0.0 0.0 1.0"/>
+  </material>
+  
+
+  <link name="world"/>
+  <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="chassis_link"/>
+    <origin
+      xyz="0 0 0.0"
+      rpy="0 0 0" />
+  </joint>
+  <link
+    name="chassis_link">
+    <inertial>
+      <origin
+        xyz="0.0 -0.0 0.0"
+        rpy="0 0 0" />
+      <mass
+        value="95.89211" />
+      <inertia
+        ixx="4.053262"
+        ixy="-0.00943858"
+        ixz="0.00873843"
+        iyy="3.97799150"
+        iyz="0.08870018"
+        izz="5.84347866" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.34 -0.32 0"
+        rpy="1.5707 0 1.5707" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/chassis.STL" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.34 -0.32 0"
+        rpy="1.5707 0 1.5707" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/chassis.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="waist_link1" type="revolute">
+    <parent link="chassis_link"/>
+    <child link="waist_link1"/>
+    <origin
+      xyz="0.125 0 0.235"
+      rpy="0 0 0" />
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-1.204277" upper="0.069813" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="waist_link1">
+    <inertial>
+      <origin
+        xyz="-0.00482 -0.00232 0.19437"
+        rpy="0 0 0" />
+      <mass
+        value="22.687" />
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+        ixx="0.39927562"
+        ixy="-0.00005938"
+        ixz="0.01154258"
+        iyy="0.34053244"
+        iyz="0.000093"
+        izz="0.14771095" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.0 0.0 -0.0"
+        rpy="0.0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link1.stl" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.0 0.0 -0.0"
+        rpy="0.0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="waist_link2" type="revolute">
+    <parent link="waist_link1"/>
+    <child link="waist_link2"/>
+    <origin
+      xyz="-0.003 0.000 0.4133"
+      rpy="0 0 0" />
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-2.44346" upper="1.500098" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="waist_link2">
+    <inertial>
+      <origin
+        xyz="-0.00093 -0.00078 -0.288530"
+        rpy="0 0 0" />
+      <mass
+        value="11.3150" />
+      <inertia
+        ixx="0.31740298"
+        ixy="-0.00000159"
+        ixz="-0.00251509"
+        iyy="0.31022871"
+        iyz="0.00088199"
+        izz="0.05201494" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.08186 0.12 -0.409"
+        rpy="1.5707 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link2.STL" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.08186 0.12 -0.409"
+        rpy="1.5707 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="waist_link3" type="revolute">
+    <parent link="waist_link2"/>
+    <child link="waist_link3"/>
+    <origin
+      xyz="-0.003 0.0 0.4833"
+      rpy="0 0 0" />
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-1.553343" upper="2.251474" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="waist_link3">
+    <inertial>
+      <origin
+        xyz="0.00182 -0.00191 -0.04703"
+        rpy="0 0 0" />
+      <mass
+        value="4.0810" />
+      <inertia
+        ixx="0.03025474"
+        ixy="0.00"
+        ixz="0.00003578"
+        iyy="0.002931724"
+        iyz="-0.00023878"
+        izz="0.01106011" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.07686 0.078 -0.889"
+        rpy="1.5707 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link3.STL" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.07686 0.078 -0.889"
+        rpy="1.5707 0 0" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/waist_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="chest_joint" type="revolute">
+    <parent link="waist_link3"/>
+    <child link="chest_link"/>
+    <origin
+      xyz="-0.0 0.0 0.0"
+      rpy="0 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-3.1590459" upper="1.58825" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="chest_link">
+    <inertial>
+      <origin
+        xyz="-0.00042 0.00091 0.25107"
+        rpy="0 0 0" />
+      <mass
+        value="6.6170" />
+      <inertia
+        ixx="0.06221010"
+        ixy="-0.0004554"
+        ixz="-0.00038971"
+        iyy="0.04578598"
+        iyz="-0.00001806"
+        izz="0.05582511" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0.11616 -0.172 0.084"
+        rpy="1.5707 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/chest.STL" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.11616 -0.172 0.084"
+        rpy="1.5707 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/chest.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="neck_joint" type="revolute">
+    <parent link="chest_link"/>
+    <child link="neck_link"/>
+    <origin
+      xyz="-0.0 0.0 0.305"
+      rpy="0 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="100" lower="-3.246312" upper="1.675516" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="neck_link">
+    <inertial>
+      <origin
+        xyz="-0.01005 0.00242 0.15798"
+        rpy="0 0 0" />
+      <mass
+        value="0.8130" />
+      <inertia
+        ixx="0.00285752"
+        ixy="0.00005303"
+        ixz="0.00041693"
+        iyy="0.00290386"
+        iyz="-0.00015525"
+        izz="0.00042511" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0.0 -0.0 -0.0"
+        rpy="0.0 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/neck.stl" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.0 -0.0 -0.0"
+        rpy="0.0 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/neck.stl" />
+      </geometry>
+    </collision>
+  </link>
+  
+  
+  <joint name="head_joint" type="revolute">
+    <parent link="neck_link"/>
+    <child link="head_link"/>
+    <origin
+      xyz="0.03 0.0 0.207"
+      rpy="0 0 0" />
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="-0.6806784" upper="0.47123889" velocity="3.490658503988659"/>
+  </joint>
+  <link
+    name="head_link">
+    <inertial>
+      <origin
+        xyz="0.15142 -0.002282 0.02873"
+        rpy="0 0 0" />
+      <mass
+        value="1.425" />
+      <inertia
+        ixx="0.00640332"
+        ixy="-0.00002489"
+        ixz="-0.00030574"
+        iyy="0.00483754"
+        iyz="0.00000400"
+        izz="0.00534238" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0.062 -0.095 -0.31"
+        rpy="1.5707 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/head.STL" />
+      </geometry>
+      <material name="metal_dark"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.062 -0.095 -0.31"
+        rpy="1.5707 0 3.1415926" />
+      <geometry>
+        <mesh
+          filename="package://robot_model_v2/meshes/head.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="left_fixed" type="fixed">
+    <parent link="chest_link"/>
+    <child link="AR5-5_07L_base"/>
+    <origin xyz="0.0 0.075 0.3454" rpy="-1.57 1.57 0"/>
+  </joint>
+  <link name="AR5-5_07L_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_1" type="revolute">
+    <parent link="AR5-5_07L_base"/>
+    <child link="AR5-5_07L_link1"/>
+    <limit effort="108" lower="-3.1067" upper="3.1067" velocity="3.490658503988659"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 1-->
+  <link name="AR5-5_07L_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="2.66"/>
+      <inertia ixx="0.00484214" ixy="0.00000117" ixz="-0.00000044" iyy="0.00444297" iyz="-0.00000074" izz="0.00427071"/>
+      <origin rpy="0 0 0" xyz="1.6e-05 -0.0006979999999999999 0.168185"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_2" type="revolute">
+    <parent link="AR5-5_07L_link1"/>
+    <child link="AR5-5_07L_link2"/>
+    <limit effort="108" lower="-2.0944" upper="2.0944" velocity="3.490658503988659"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1745"/>
+  </joint>
+  <!--link 2-->
+  <link name="AR5-5_07L_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="2.3"/>
+      <inertia ixx="0.01155422" ixy="0.00000028" ixz="-0.00000103" iyy="0.00995119" iyz="0.00083831" izz="0.00437076"/>
+      <origin rpy="0 0 0" xyz="4.4999999999999996e-05 -0.002985 0.102801"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_3" type="revolute">
+    <parent link="AR5-5_07L_link2"/>
+    <child link="AR5-5_07L_link3"/>
+    <limit effort="66" lower="-3.1067" upper="3.1067" velocity="4.71238898038469"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.314"/>
+  </joint>
+  <!--link 3-->
+  <link name="AR5-5_07L_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.8"/>
+      <inertia ixx="0.00478231" ixy="0.00001317" ixz="0.00033105" iyy="0.00432575" iyz="0.00002132" izz="0.00254969"/>
+      <origin rpy="0 0 0" xyz="0.0073 -0.001371 -0.01502"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_4" type="revolute">
+    <parent link="AR5-5_07L_link3"/>
+    <child link="AR5-5_07L_link4"/>
+    <limit effort="66" lower="-1.0472" upper="2.5307" velocity="5.235987755982989"/>
+    <!--     lower="-1.0472" upper="1.0472" -->
+    <axis xyz="0 1 0"/>
+    <!--     <origin rpy="0 0 0" xyz=0.0105 0.0 0.0/> -->
+    <origin rpy="0 0 0" xyz="0.0105 0.0 0.0"/>
+  </joint>
+  <!--link 4-->
+  <link name="AR5-5_07L_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.13"/>
+      <inertia ixx="0.00352152" ixy="-0.00002411" ixz="-0.00015046" iyy="0.00266275" iyz="0.00025447" izz="0.00186915"/>
+      <origin rpy="0 0 0" xyz="-0.007816 -0.002536 0.066782"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_5" type="revolute">
+    <parent link="AR5-5_07L_link4"/>
+    <child link="AR5-5_07L_link5"/>
+    <limit effort="19" lower="-3.1067" upper="3.1067" velocity="4.1887902047863905"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="-0.0105 0.0 0.26"/>
+  </joint>
+  <!--link 5-->
+  <link name="AR5-5_07L_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.19"/>
+      <inertia ixx="0.00238316" ixy="0.00001280" ixz="0.00001311" iyy="0.00195453" iyz="0.00001458" izz="0.00149979"/>
+      <origin rpy="0 0 0" xyz="0.00023400000000000002 0.002477 -0.08120000000000001"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_6" type="revolute">
+    <parent link="AR5-5_07L_link5"/>
+    <child link="AR5-5_07L_link6"/>
+    <limit effort="19" lower="-1.0472" upper="1.0472" velocity="4.1887902047863905"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0.0 0.0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 6-->
+  <link name="AR5-5_07L_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="0.82"/>
+      <inertia ixx="0.00060715" ixy="-0.00000829" ixz="0.00000078" iyy="0.00065671" iyz="0.00000017" izz="0.00066165"/>
+      <origin rpy="0 0 0" xyz="0.0072039999999999995 0.0007149999999999999 -4e-05"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_joint_7" type="revolute">
+    <parent link="AR5-5_07L_link6"/>
+    <child link="AR5-5_07L_link7"/>
+    <limit effort="19" lower="-1.0472" upper="1.0472" velocity="4.1887902047863905"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0.0 0.0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 7-->
+  <link name="AR5-5_07L_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="0.32"/>
+      <inertia ixx="0.00043581" ixy="0.00000007" ixz="0.00001201" iyy="0.00067064" iyz="0.00000188" izz="0.00041740"/>
+      <origin rpy="0 0 0" xyz="-0.002337 0.000307 0.051645"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_L/AR5-5_07L_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07L_tcp_joint" type="fixed">
+    <parent link="AR5-5_07L_link7"/>
+    <child link="AR5-5_07L_tcp"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
+  </joint>
+  <link name="AR5-5_07L_tcp">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+
+  <joint name="right_fixed" type="fixed">
+    <parent link="chest_link"/>
+    <child link="AR5-5_07R_base"/>
+    <origin xyz="0.0 -0.075 0.3454" rpy="1.57 1.57 0"/>
+  </joint>
+  <link name="AR5-5_07R_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_1" type="revolute">
+    <parent link="AR5-5_07R_base"/>
+    <child link="AR5-5_07R_link1"/>
+    <limit effort="108" lower="-3.1067" upper="3.1067" velocity="3.490658503988659"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 1-->
+  <link name="AR5-5_07R_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="2.66"/>
+      <inertia ixx="0.00484214" ixy="0.00000117" ixz="-0.00000044" iyy="0.00444297" iyz="-0.00000074" izz="0.00427071"/>
+      <origin rpy="0 0 0" xyz="1.6e-05 -0.0006979999999999999 0.168185"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_2" type="revolute">
+    <parent link="AR5-5_07R_link1"/>
+    <child link="AR5-5_07R_link2"/>
+    <limit effort="108" lower="-2.0944" upper="2.0944" velocity="3.490658503988659"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1745"/>
+  </joint>
+  <!--link 2-->
+  <link name="AR5-5_07R_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="2.3"/>
+      <inertia ixx="0.01155422" ixy="0.00000028" ixz="-0.00000103" iyy="0.00995119" iyz="0.00083831" izz="0.00437076"/>
+      <origin rpy="0 0 0" xyz="4.4999999999999996e-05 -0.002985 0.102801"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_3" type="revolute">
+    <parent link="AR5-5_07R_link2"/>
+    <child link="AR5-5_07R_link3"/>
+    <limit effort="66" lower="-3.1067" upper="3.1067" velocity="4.71238898038469"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.314"/>
+  </joint>
+  <!--link 3-->
+  <link name="AR5-5_07R_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.8"/>
+      <inertia ixx="0.00478231" ixy="0.00001317" ixz="0.00033105" iyy="0.00432575" iyz="0.00002132" izz="0.00254969"/>
+      <origin rpy="0 0 0" xyz="0.0073 -0.001371 -0.01502"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_4" type="revolute">
+    <parent link="AR5-5_07R_link3"/>
+    <child link="AR5-5_07R_link4"/>
+    <limit effort="66" lower="-1.0472" upper="2.5307" velocity="5.235987755982989"/>
+    <!--     lower="-1.0472" upper="1.0472" -->
+    <axis xyz="0 1 0"/>
+    <!--     <origin rpy="0 0 0" xyz=0.0105 0.0 0.0/> -->
+    <origin rpy="0 0 0" xyz="0.0105 0.0 0.0"/>
+  </joint>
+  <!--link 4-->
+  <link name="AR5-5_07R_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link4.stl" scale=".001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.13"/>
+      <inertia ixx="0.00352152" ixy="-0.00002411" ixz="-0.00015046" iyy="0.00266275" iyz="0.00025447" izz="0.00186915"/>
+      <origin rpy="0 0 0" xyz="-0.007816 -0.002536 0.066782"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_5" type="revolute">
+    <parent link="AR5-5_07R_link4"/>
+    <child link="AR5-5_07R_link5"/>
+    <limit effort="19" lower="-3.1067" upper="3.1067" velocity="4.1887902047863905"/>
+    <axis xyz="0 0 1"/>
+    <origin rpy="0 0 0" xyz="-0.0105 0.0 0.26"/>
+  </joint>
+  <!--link 5-->
+  <link name="AR5-5_07R_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="1.19"/>
+      <inertia ixx="0.00239004" ixy="-0.00000866" ixz="0.00001606" iyy="0.00196096" iyz="-0.00001370" izz="0.00150238"/>
+      <origin rpy="0 0 0" xyz="0.00022600000000000002 -0.002462 -0.081161"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_6" type="revolute">
+    <parent link="AR5-5_07R_link5"/>
+    <child link="AR5-5_07R_link6"/>
+    <limit effort="19" lower="-1.0472" upper="1.0472" velocity="4.1887902047863905"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0.0 0.0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 6-->
+  <link name="AR5-5_07R_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="0.82"/>
+      <inertia ixx="0.00060720" ixy="0.00000824" ixz="-0.00000087" iyy="0.00066149" iyz="0.00000017" izz="0.00066643"/>
+      <origin rpy="0 0 0" xyz="0.0070940000000000005 -0.000714 4.2000000000000004e-05"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_joint_7" type="revolute">
+    <parent link="AR5-5_07R_link6"/>
+    <child link="AR5-5_07R_link7"/>
+    <limit effort="19" lower="-1.0472" upper="1.0472" velocity="4.1887902047863905"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0.0 0.0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <!--link 7-->
+  <link name="AR5-5_07R_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="white"/>
+    </visual>
+    <inertial>
+      <mass value="0.32"/>
+      <inertia ixx="0.00043649" ixy="0.00000037" ixz="0.00001247" iyy="0.00067127" iyz="0.00000047" izz="0.00041742"/>
+      <origin rpy="0 0 0" xyz="-0.002337 6e-06 0.051713999999999996"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="package://robot_model_v2/meshes/AR5_P_R/AR5-5_07R_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </collision>
+  </link>
+  <joint name="AR5-5_07R_tcp_joint" type="fixed">
+    <parent link="AR5-5_07R_link7"/>
+    <child link="AR5-5_07R_tcp"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
+  </joint>
+  <link name="AR5-5_07R_tcp">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+
+
+</robot>
diff --git a/robot_model_v2/usd/.asset_hash b/robot_model_v2/usd/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..259da90ec8bc0d87034f20543b73bb97b607da1d
--- /dev/null
+++ b/robot_model_v2/usd/.asset_hash
@@ -0,0 +1 @@
+1f2a44cf2970de6719230940b5dcea97
\ No newline at end of file
diff --git a/robot_model_v2/usd/config.yaml b/robot_model_v2/usd/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..17cd65cdffddea33213702d790289ca8a1c2bfe6
--- /dev/null
+++ b/robot_model_v2/usd/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/dyz/feast/robot_model_v2/urdf/wheel_robot_isaaclab.urdf
+usd_dir: /home/dyz/feast/robot_model_v2/usd
+usd_file_name: wheel_robot_lab.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-03-27 at 17:06:46.
+##
diff --git a/robot_model_v2/usd/configuration/wheel_robot_lab_base.usd b/robot_model_v2/usd/configuration/wheel_robot_lab_base.usd
new file mode 100644
index 0000000000000000000000000000000000000000..22a4a5a74d8f3d374a607630a248e422436adc7f
--- /dev/null
+++ b/robot_model_v2/usd/configuration/wheel_robot_lab_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef957b58db9a281d2ebdcaa732fa7051f316a41609fd8c08e60e8a6d443dff2
+size 44829904
diff --git a/robot_model_v2/usd/configuration/wheel_robot_lab_physics.usd b/robot_model_v2/usd/configuration/wheel_robot_lab_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9b8413c8d1101fa2b10b62d396ea2e641f7a5b3b
Binary files /dev/null and b/robot_model_v2/usd/configuration/wheel_robot_lab_physics.usd differ
diff --git a/robot_model_v2/usd/configuration/wheel_robot_lab_sensor.usd b/robot_model_v2/usd/configuration/wheel_robot_lab_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7743ec10f216bc4eef4357a3861f42b0f9ecf26a
Binary files /dev/null and b/robot_model_v2/usd/configuration/wheel_robot_lab_sensor.usd differ
diff --git a/robot_model_v2/usd/wheel_robot_lab.usd b/robot_model_v2/usd/wheel_robot_lab.usd
new file mode 100644
index 0000000000000000000000000000000000000000..46fc255112cbf1b7098bbf2a22ad33a2cda143dc
Binary files /dev/null and b/robot_model_v2/usd/wheel_robot_lab.usd differ